115 lines
3.7 KiB
Rust
115 lines
3.7 KiB
Rust
use na::{Isometry3, Point3, UnitQuaternion, Vector3};
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use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet};
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use rapier_testbed3d::Testbed;
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* World
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*/
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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let joints = JointSet::new();
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/*
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* Ground.
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*/
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let ground_size = 20.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(0.0, -ground_height, 0.0)
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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colliders.insert(collider, handle, &mut bodies);
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/*
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* Create the boxes
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*/
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let num = 1;
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let rad = 0.2;
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let shift = rad * 2.0;
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let centerx = shift * num as f32 / 2.0;
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let centery = shift / 2.0;
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let centerz = shift * num as f32 / 2.0;
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for i in 0usize..20 {
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for j in 0usize..num {
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for k in 0usize..num {
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let x = i as f32 * (shift + rad / 4.0) - centerx;
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let y = j as f32 * shift + centery;
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let z = k as f32 * shift - centerz;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(x, y + rad, z)
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.ccd_enabled(true)
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad * 2.0, rad).build();
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colliders.insert(collider, handle, &mut bodies);
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}
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}
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}
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/*
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* Setup a kinematic rigid body.
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*/
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let platform_body = RigidBodyBuilder::new_kinematic()
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.translation(0.2, 0.4, -40.0 * rad)
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.build();
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let platform_handle = bodies.insert(platform_body);
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let collider1 = ColliderBuilder::cuboid(rad * 5.0, rad * 2.0, rad * 10.0).build();
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let collider2 = ColliderBuilder::cuboid(rad * 5.0, rad * 2.0, rad * 10.0)
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.position_wrt_parent(Isometry3::translation(0.0, rad * 2.1, 0.0))
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.build();
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colliders.insert(collider1, platform_handle, &mut bodies);
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colliders.insert(collider2, platform_handle, &mut bodies);
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testbed.set_body_color(platform_handle, Point3::new(1.0, 1.0, 0.0));
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/*
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* Setup a callback to control the platform.
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*/
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let mut count = 0;
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testbed.add_callback(move |_, _, physics, _, run_state| {
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count += 1;
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// if count % 100 > 50 {
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// return;
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// }
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if let Some(platform) = physics.bodies.get_mut(platform_handle) {
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let mut next_pos = *platform.position();
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let dt = 0.016;
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// next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
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// next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
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let drot = UnitQuaternion::new(Vector3::y() * 0.01);
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next_pos.rotation = drot * next_pos.rotation;
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next_pos.translation.vector += next_pos.rotation * Vector3::z() * 0.1;
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// if next_pos.translation.vector.z >= rad * 10.0 {
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// next_pos.translation.vector.z -= dt;
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// }
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// if next_pos.translation.vector.z <= -rad * 10.0 {
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// next_pos.translation.vector.z += dt;
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// }
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platform.set_next_kinematic_position(next_pos);
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}
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});
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/*
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* Run the simulation.
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*/
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testbed.set_world(bodies, colliders, joints);
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testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
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testbed.run()
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}
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